Efficient Motion Planning for Autonomous Vehicle Maneuvers Using Duality-Based Decomposition
(2019) 9th IFAC Symposium on Advances in Automotive Control, AAC 2019 In IFAC-PapersOnLine 52(5). p.78-84- Abstract
A method to decompose a motion-planning problem into several segments is presented. It is based on a modification of the original problem, such that certain variables at the splitting points are considered to be precomputed and thus fixed and the remaining variables are obtained by performing Lagrange relaxation. The resulting dual problem is split into several subproblems, allowing parallel computation. The method is formalized as a computational algorithm and evaluated in a safety critical double lane-change situation. The resulting maneuver has close-to-optimal behavior and, for certain initialization strategies, it is obtained in shorter computational time compared to computing the full maneuver in one step.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/6f4d7580-b1aa-4520-bb89-532dd10d9578
- author
- Anistratov, Pavel ; Olofsson, Björn LU and Nielsen, Lars
- organization
- publishing date
- 2019-09-19
- type
- Contribution to journal
- publication status
- published
- subject
- keywords
- autonomous vehicles, duality-based decomposition, intelligent transportation systems, motion control, path planning, safety, trajectory
- in
- IFAC-PapersOnLine
- volume
- 52
- issue
- 5
- pages
- 7 pages
- publisher
- IFAC Secretariat
- conference name
- 9th IFAC Symposium on Advances in Automotive Control, AAC 2019
- conference location
- Orléans, France
- conference dates
- 2019-06-23 - 2019-06-27
- external identifiers
-
- scopus:85076120580
- ISSN
- 2405-8963
- DOI
- 10.1016/j.ifacol.2019.09.013
- project
- RobotLab LTH
- language
- English
- LU publication?
- yes
- id
- 6f4d7580-b1aa-4520-bb89-532dd10d9578
- date added to LUP
- 2020-01-02 14:02:00
- date last changed
- 2023-04-24 22:00:12
@article{6f4d7580-b1aa-4520-bb89-532dd10d9578, abstract = {{<p>A method to decompose a motion-planning problem into several segments is presented. It is based on a modification of the original problem, such that certain variables at the splitting points are considered to be precomputed and thus fixed and the remaining variables are obtained by performing Lagrange relaxation. The resulting dual problem is split into several subproblems, allowing parallel computation. The method is formalized as a computational algorithm and evaluated in a safety critical double lane-change situation. The resulting maneuver has close-to-optimal behavior and, for certain initialization strategies, it is obtained in shorter computational time compared to computing the full maneuver in one step.</p>}}, author = {{Anistratov, Pavel and Olofsson, Björn and Nielsen, Lars}}, issn = {{2405-8963}}, keywords = {{autonomous vehicles; duality-based decomposition; intelligent transportation systems; motion control; path planning; safety; trajectory}}, language = {{eng}}, month = {{09}}, number = {{5}}, pages = {{78--84}}, publisher = {{IFAC Secretariat}}, series = {{IFAC-PapersOnLine}}, title = {{Efficient Motion Planning for Autonomous Vehicle Maneuvers Using Duality-Based Decomposition}}, url = {{http://dx.doi.org/10.1016/j.ifacol.2019.09.013}}, doi = {{10.1016/j.ifacol.2019.09.013}}, volume = {{52}}, year = {{2019}}, }